26#ifndef SIMULATOR_SIMULATORS_SOFA_TRANSLATIONCONSTRAINT_H
27#define SIMULATOR_SIMULATORS_SOFA_TRANSLATIONCONSTRAINT_H
30#include "sofa/core/behavior/ProjectiveConstraintSet.h"
31#include "sofa/core/behavior/MechanicalState.h"
39template<
class DataTypes>
55 typedef typename DataTypes::Coord
Coord;
56 typedef typename DataTypes::Deriv
Deriv;
61 TranslationConstraint(
Loads* loadsList,
const std::map<unsigned int, unsigned int>& atomIndexToDOFIndex, sofa::core::behavior::MechanicalState<DataTypes>* mm);
97 sofa::core::behavior::MechanicalState<DataTypes>*
mmodel;
This class makes it possible to manage a list of "Load".
Definition: Loads.h:71
TODO Comment class here.
Definition: TranslationConstraint.h:48
DataTypes::VecDeriv::iterator VecDerivIterator
Definition: TranslationConstraint.h:54
TranslationConstraint< DataTypes > * addConstraint(unsigned int index, Deriv trans)
fix or translate a point
void fixDOF(int index, int axe)
fix a point on the axe specified (0=x, 1=y, 2=z)
TranslationConstraint(Loads *loadsList, const std::map< unsigned int, unsigned int > &atomIndexToDOFIndex, sofa::core::behavior::MechanicalState< DataTypes > *mm)
constructor
DataTypes::VecDeriv VecDeriv
Definition: TranslationConstraint.h:52
TranslationConstraint< DataTypes > * removeConstraint(int index)
std::map< unsigned int, unsigned int > atomToDOFIndexes
link between PML object indexes and sofa Dofs Indexes
Definition: TranslationConstraint.h:111
DataTypes::MatrixDeriv::RowType MatrixDerivRowType
Definition: TranslationConstraint.h:58
double initTime
initial time
Definition: TranslationConstraint.h:107
DataTypes::Coord Coord
Definition: TranslationConstraint.h:55
VecDeriv translations
list of translations
Definition: TranslationConstraint.h:101
void setInitTime(double time)
set initial time (context->getTime() remind the same when simulation is rewind)
virtual void projectPosition(VecCoord &x)
project x to constrained space (x models a position)
std::vector< unsigned int > getTargets()
return the targets list
Definition: TranslationConstraint.h:66
DataTypes::VecCoord VecCoord
template types
Definition: TranslationConstraint.h:51
DataTypes::VecCoord::iterator VecCoordIterator
Definition: TranslationConstraint.h:53
void initTextures()
Definition: TranslationConstraint.h:83
void projectResponse(VecDeriv &dx)
Constraint inherits.
~TranslationConstraint()
Definition: TranslationConstraint.h:63
void draw()
– VisualModel interface
void projectResponse(MatrixDerivRowType &dx)
Definition: TranslationConstraint.h:79
void update()
Definition: TranslationConstraint.h:84
std::vector< Load * > loads
the lml loads
Definition: TranslationConstraint.h:109
VecDeriv directionsNULLs
list of fixed directions
Definition: TranslationConstraint.h:103
virtual void projectVelocity(VecDeriv &v)
project dx to constrained space (dx models a velocity)
std::vector< unsigned int > targets
the set of vertex targets
Definition: TranslationConstraint.h:99
DataTypes::Deriv Deriv
Definition: TranslationConstraint.h:56
VecDeriv initPos
initial positions
Definition: TranslationConstraint.h:105
sofa::core::behavior::MechanicalState< DataTypes > * mmodel
the mechanical model
Definition: TranslationConstraint.h:97